2In this research, as a development concept, "comfortable operativity and the lightweight wheelchair like a power-steering" were hung up and it aimed at realization of the electric auxiliary wheelchair equipped with the operativity of the power-steering average of a car, and the lightweight nature of the grade which no less than one user can deal with. In the research period concerned, investigators inquired about the following matters : (1) examination of the. control method, (2) design and trial production of a control system, (3) design and trial production of a torque sensor, (4) design and manufacture of a torque sensor, (5) design and manufacture of experiment equipment for the torque sensor, (7) manufacture of the first prototype, (8) development of the control program of the first prototype. (9) data collection by the first prototype, (10) design and manufacture of mechanism parts the second prototype, (11) design of the control system of the second prototype, (12) construction
… More of the control system of the second prototype (13) data collection by the second prototype (14) examination of the optimal form, and (15) examination of the optimal control algorithm. As a result of this research, investigattors developed the small lightweight manual driving force detector which is an important point, devised the new method of the electric power and the signal transfer by un-contacting, proposed power assisted wheelchair with continuous variable torque control system, and manufactured the first prototype which used commercial elegance as the base. And also invettigators tackled the lightweight-ized design and manufactured the second prototype which realized large lightweight-ization to the grade which no less than a user itself can deal with. Moreover, investigators considered for a lightweight small level difference riding over mechanism to also need to be developed since it will be expected mat the action range of a wheelchair spreads sharply if about 1-2 steps of small level differences, such as a level difference of a driveway and a sidewalk, from the survey of the level differences in a city area. Less